Method for uploading crop stored in a grain tank of a harvesting device

ABSTRACT

A method for unloading crop stored in a grain tank of a self-propelled combine harvester into a drivable collecting container equipped with a drive unit includes positioning the collecting container relative to the combine harvester and moving the collecting container parallel thereto while the crop is fed to the collecting container directly or indirectly by way of a grain tank discharge pipe equipped with an outlet chute, simultaneously with the harvesting operation.

CROSS-REFERENCE TO A RELATED APPLICATION

This application is a divisional application of U.S. patent applicationSer. No. 13/465,204, filed on May 7, 2012 (“the parent application”),and claims benefit of priority under 35 USC 119(e) from the parentapplication. The invention described and claimed hereinbelow also isdescribed in German Patent Application DE 10 2011 050629.2, filed on May25, 2011. The German Patent Application, whose subject matter isincorporated by reference herein, provides the basis for a claim ofpriority of invention under 35 U.S.C. 119(a)-(d).

BACKGROUND OF THE INVENTION

The invention relates to a system including a self-propelled harvestingmachine and a drivable collecting container equipped with a drive unitin which the collecting container is positionable relative to theharvesting machine and moveable in parallel therewith. Crop can be feddirectly or indirectly to the collecting container from the harvestingmachine during the harvesting operation by way of a feed pipe equippedwith an outlet chute, having a device for loading the collectingcontainer in a uniform manner. The invention also relates to a methodfor unloading crop stored in a grain tank of a self-propelled combineharvester into a drivable collecting container equipped with a driveunit, where the collecting container is positionable relative to thecombine harvester and moveable parallel thereto while the crop is fedinto the collecting container directly or indirectly by way of a graintank discharge pipe equipped with an outlet chute, simultaneous with theharvesting operation.

In the initial stages of technical development, harvesting machines inthe form of combine harvesters or forage harvesters were usually notequipped with a separate drive and, instead, were drawn by a tractor anddriven by way of the P.T.O. shaft thereof. Since then, nearly allcombine harvesters used to harvest grain, rapeseed or corn are designedas self-propelled harvesting machines. High-performance forageharvesters, as self-propelled harvesting machines used by large-scaleoperations or contractors, also comprise a separate drive unit.

In farming, there is only a relatively short period of time availableeach year for harvesting grain and rapeseed, namely that period of timein which the stalk crop has reached a certain level of maturity forattaining a relatively good harvesting result. In addition, a certainmoisture content must not be exceeded in order to save drying costs,which can have a considerable effect on the prices that can be obtained.As a result, highly efficient harvesting machines, such as combineharvesters having a higher rate of work, are used, the front harvestingattachment of which is designed with a large working width, said frontharvesting attachment being in the form of a grain or rapeseed cuttingmechanism or a corn picker.

This increase in the working width of the front harvesting attachmentand a corresponding increase in the output of the threshing mechanismresult in a large quantity of crop accumulating in the grain tank withina short time interval. The capacity of the grain tank would likewiseneed to be increased considerably, to avoid having to interrupt theharvesting procedure at short time intervals and move one of possiblyseveral collecting containers positioned on the field in the directionthereof in order to transfer the crop. Increasing the capacity of thegrain tank accordingly and storing the maximum quantity of grain wouldresult in a considerable increase in the weight of said self-propelledharvesting machine. The disadvantage of a related weight increase is theground compression caused by the tires of the combine harvester on thefield, which has an unfavorable effect on the optimum soil conditionbecause plant growth is reduced considerably in these extremelycompressed tracks, since the compression of the ground greatly restrictsthe circulation of air and water. In addition, if the capacity of thegrain tank were not increased, the intervals for unloading the crop fromthe grain tank into the particular collecting containers would begreatly shortened, thereby making it necessary to interrupt theharvesting process very frequently, which, in sum, results in arelatively long standstill time of the combine harvester.

For this reason, in the case of high-performance combine harvesterscomprising a harvesting front attachment having a correspondingly largeworking width, the transfer of crop from the grain tank into thecollecting container, i.e. the grain tank unloading process, takes placesimultaneously with the harvesting process. This means that, in a phasein which the grain tank of the combine harvester has reached the maximumfill level thereof, the collecting container—which is likewise designedto be self-propelled or can be moved using a tractor—assumes a positionnext to the combine harvester, in which the crop is conveyed into thecollecting container by way of a feed pipe equipped with an outletchute.

In this context, systems are known, in which the driver of the combineharvester not only monitors all the functions of the combine harvesterand makes the necessary adjustment procedures thereon; from his driver'scab, the driver also requests the collecting container located closestto the harvesting machine and controls it in such a way that thecollecting container travels parallel to the harvesting machine. Theground speed of the collecting container is therefore matched to that ofthe harvesting machine. Once the collecting container has been movedinto a position relative to the combine harvester in this manner, thecrop is transferred or discharged using an auger for unloading the graintank, which is disposed in a feed pipe swivelled outward accordingly.

While the crop is being fed to the collecting container, this transferprocedure must be monitored continuously to ensure that grain losses donot occur during this process. It is possible, for example, for theoutlet chute of the feed pipe to assume a position relative to thecollecting container, in which components of the crop drop next to thecollecting container. This problem could possibly also occur if, due toweather conditions, a strong cross wind blows grains out of the cropstream and conveys them next to the collecting container. In addition,the entire volume of the collecting container should be utilized, ifpossible, that is, the crop must be distributed in the collectingcontainer in an optimal manner. Moreover, the filling of the collectingcontainer must be stopped when a maximum level of the collected materialhas been reached in the individual regions of the collecting containersince parts of the crop would otherwise fall to the ground at the end ofthe filling process or when the collecting container is subsequentlyhauled away. It is also important for the driver to concentrateprimarily on the cutting and threshing process, when harvesting grain,for example; that is, the view of the harvesting front attachment playsan important role. If he must also monitor the position of thecollecting container and the grain tank unloading process, however, hebecomes too distracted from this main task. Moreover, his view of thecollecting container is often restricted by dust formation during thethreshing process and the grain tank unloading process, thereby leavinghim with hardly any options for fully monitoring the loading of the cropinto the collecting container.

The aforementioned problems apply for a harvesting machine equipped witha threshing mechanism and for a self-propelled forage harvester or cornharvester, wherein the crop is not stored for the interim in a tank onthe harvesting machine, and is instead ejected directly by way of thefeed pipe in the direction of the collecting tank. Exact positioning ofthe collecting containers, which must constantly travel behind or nextto the harvesting machine, is crucial in this case as well.

A harvesting device comprising a self-propelled harvesting machine and adriveable collecting container comprising a drive unit is known from EP2 245 916 A1. The collecting container, which is moved by a tractorparallel to the harvesting machine, should be loaded in a uniform mannerby changing the position of the collecting container with respect to theoutlet chute of the feed pipe in the direction of travel. This change inthe relative position of the collecting container with respect to theharvesting machine, and maintenance of a parallel driving track areattained by way of a GPS system. Moreover, the outlet chute is designedto be swivelable with respect to the feed pipe, and is adjusted by wayof the automatic control system such that the ejected crop landsspecifically in the collecting container without grain losses.

In addition, EP 1 219 153 A2 makes known a system comprising aself-propelled harvesting machine and a drivable collecting container,in the case of which relative positions of the harvesting machine andthe collecting container should likewise be shifted with respect to oneanother, depending on GPS monitoring and radio signals, in such a mannerthat the collecting container is loaded completely in accordance withthe capacity thereof.

SUMMARY OF THE INVENTION

The present invention provides a system and method that overcomeshortcomings of the known arts, that are reliable in performance andthat prevent a loss of portions of the crop by assuring transfer of cropfrom the harvesting machine to the collecting container in such as waythat completely fills particular collecting container is completelyfilled, under all harvesting conditions.

In an embodiment, the system includes a harvesting machine andcollecting container moved in a constant position relative to theharvesting machine by way of a control device while the crop is beingconveyed. The collecting container comprises a filling device, by way ofwhich uniform distribution of the crop in the collecting container isattained. The filling device is provided on the collecting container.The collecting container is moved parallel to the harvesting machinewhile maintaining a constant safe distance from the harvesting machineand at a ground speed that corresponds to the ground speed of theharvesting machine. A corresponding outlet chute of the feed pipeassumes a fixed position relative to an inlet of the filling device atthe onset of the transfer of the crop from the harvesting machine.

During operation, the collecting container is moved out of the waitingposition thereof toward the harvesting machine at a high ground speedand then matches its own ground speed to that of the harvesting machinewhile traveling in parallel as soon as the outlet chute has assumed theintended position thereof. The simple process provides for avoidance ofproblems in assigning the collecting container to the harvesting machineand in filling the collecting container in a uniform manner.

In contrast, according to publications EP 2 245 916 A1 and EP 1 219 153A2 cited in the prior art, the position of the collecting container withrespect to the harvesting machine is changed continuously to therebyattain uniform distribution of the crop in the collecting container. Butusing this known technique runs the risk that the fill level of thecollecting container is exceeded in certain regions thereof, and partsof the crop therefore drop onto the field and become lost as harvestingyield.

In another embodiment, e invention, the harvesting machine is in a formof a self-propelled combine harvester, wherein the feed pipe is designedas a grain tank discharge pipe that extends from a grain tank of thecombine harvester. The fill level of the grain tank of the combineharvester, which is used for intermediate storage, is continuouslymonitored, and a collecting container located closest to the combineharvester is automatically requested based on the monitoring. Thecollecting container is then brought into the position by a pullingmachine in the form of a tractor for the subsequent unloading of thecrop. The applicable collecting container also can be moved toward thecombine harvester, which is engaged in the harvesting operation,initially in a manual manner. Thereafter, the control device brings thecollecting container into the position thereof intended for the graintank unloading process and maintains this position with respect to thecombine harvester, which is traveling.

To this end, and possibly also for an automatic approach by thecollecting container to the combine harvester, the harvesting machine,e.g., combine harvester and the drive unit of the driveable collectingcontainer is equipped with a navigation system. The navigation systemenables that both the harvesting machine and driveable collectingcontainer are held in a constant position relative to one another whilethe crop is being conveyed. The solution is preferably based on GPSsignals and radio systems, by way of which a so-called “electronic towbar” can be produced. For safety reasons, a supplemental system can beprovided, which maintains the positioning of the vehicles with respectto one another if the GPS or radio transmission is disrupted. Forexample, the two vehicle positions can be additionally monitored and theposition of the collecting container can therefore be corrected by wayof distance sensors on the collecting container or the harvestingmachine, which intervene if the normal control systems fail. Thesedistance sensors would adapt the ground speed and correct the steeringangle at the drive unit of the collecting container.

Moreover, a front harvesting attachment disposed on the combineharvester includes a lateral extension extending beyond the combineharvester on both sides, wherein the collecting container assumes aposition substantially within the extension of the front harvestingattachment during conveyance of the crop by way of the grain tankdischarge pipe. The front harvesting attachment (for example, a headerfor harvesting grain or rapeseed, or corn pickers) extends well beyondthe remaining width of the combine harvester. In the case of combineharvesters, the grain tank discharge pipe is typically provided on theleft side as viewed in the direction of travel. Consequently, thecollecting container, which is preferably drawn by a tractor, moveswithin the lateral extension of the front harvesting attachment during agrain tank unloading process.

Harvesting conditions exist, however, in which it is advantageous forthe collecting container to be moved within the extension of the frontharvesting attachment. For example, if a grain tank unloading processshould become necessary during the clearing process while mowing thefirst path, the tractor and the collecting container, if they are movingoutside of the extension of the front harvesting attachment, would becompelled to travel in the stalk crop that has not yet been harvested,or on an adjacent field. This would result in unnecessary tracks and,therefore, crop losses. The inventive system and method avoid damage ofthis type in the unharvested stalk crop or in a stand on an adjacentproperty because the collecting container, which is drawn by thetractor, is moved along a path that has already been harvested by thecombine harvester. Similar conditions result when harvesting is carriedout only at a stand edge on relatively long paths, and therefore thegrain tank discharge pipe is located on the stand side on every otherpass. In addition, when long paths are involved, effort should be made,in part, to avoid mowing long stretches on the headland of the relatedpath. The reason is that clearing must be carried out repeatedly withinthe stand, although a path would likewise not be available for travel bythe collecting container if it could not be moved within the extensionof the front harvesting attachment.

Since it is now hardly possible to use the straw and chaff accumulatedduring a harvesting process for special purposes as feed or scattermaterial, nearly all combine harvesters are equipped with a choppermounted at the straw and chaff outlet. The chopper ensures that thesecomponents are adequately fragmentized and distributed so they can beworked into the top ground layer in a uniform manner during subsequentsoil management, to attain optimum soil conditions.

According to the invention, the combine harvester may comprise a relatedchopper having an adjustable guide device for adjusting the width ofstraw and chaff distribution. On the basis of a signal transmitted fromthe collecting container, the guide device is moved automatically into aposition in which the width of the distribution is reduced on one sidesuch that it lies outside of a driving path of the collecting container.The corresponding guide devices of the chopper, which are preferablyhydraulically displaceable, therefore distribute the fragmentized strawand chaff in an asymmetrical manner. This adjustment of the guide deviceof the chopper, which preferably takes place automatically, isimplemented when the driveable collecting container is moved in theposition thereof next to the combine harvester. After the grain tank hasbeen emptied and the collecting container has been removed, the guidedevice is returned to the normal distributing function thereof, andtherefore straw and chaff are once more distributed across the entireworking width of the combine harvester.

The chopped material is thereby prevented from collecting on the haulingcontainer, thereby preventing the formation of accumulations or a swathof chopped material. These accumulations or chopped material swaths cancreate problems in the subsequent soil management and can form strawnests on the ground, which impair the development of optimum soilconditions at these points. In addition, if this adjustment of the guidedevice of the chopper were not carried out, the air would become loadedto a considerable extent with fine straw components and dust in theregion of the collecting container, which can have an unfavorable effecton the grain tank unloading process and, when wind conditions areunfavorable, can even contaminate the crop located in the interior ofthe collecting container.

In another embodiment, the filling device of the collecting containercomprises a longitudinal conveyor, which acts at least in thelongitudinal direction of the collecting container. This longitudinalconveyor transports the crop fed to the collecting container in such away that the crop can be distributed evenly in the collecting containeruntil the maximum fill volume thereof has been reached. The longitudinalconveyor can be in the form of at least one conveyor auger or a chainconveyor. Other types of longitudinal conveyors can also be used,however, which distribute the crop continuously or in intervals.

Moreover, the longitudinal conveyor can be disposed in a conveyortrough, wherein different outlet regions having different outlet crosssections can be adjusted on the conveyor trough. These adjustable outletcross sections or, alternatively thereto, guide elements ensure that thecrop is distributed evenly, are adjusted by way of measurement devicesthat monitor the fill level in the collecting container or depending onother parameters. For example, the adjustment function could beinfluenced if the combine harvester is unloaded at a slant on anincline, to ensure that the collecting container does not become loadedon one side.

The crop can be fed by way of the outlet chutes of the grain tankdischarge pipe in the center with respect to the longitudinal extensionof the collecting container. In this case, the filling device comprisesat least two longitudinal conveyors acting in opposing conveyingdirections. Alternatively, the crop can also be fed at one end of thecollecting container, in which case at least one longitudinal conveyoracting in one conveying direction is provided.

According to a further embodiment of the invention, the collectingcontainer comprises a loading funnel at one end thereof, from which theat least one longitudinal conveyor extends. The loading funnel canextend in the direction of the combine harvester beyond the collectingcontainer, which preferably has a rectangular main surface. The fillingdevice is preferably configured as a separate component that can beplaced onto the collecting container, thereby enabling the driveablecollecting container to be used for other agricultural hauling work aswell after the filling device is easily detached.

Moreover, a device carrier, preferably a Trac vehicle, functions as thedrive unit for the collecting container, which has rear installationspace and a rear loading surface. An intermediate storage unit isdisposed on said rear installation space and filled by way of the graintank discharge pipe of the combine harvester. In turn, an intermediateconveyor extends from the intermediate storage unit, which leads into aninlet region of the longitudinal conveyor disposed in the collectingcontainer. Preferably, the intermediate conveyor is guided at theintermediate storage unit in a swivelable manner, enabling the outlet ofthe intermediate conveyor to maintain a constant position at thecollecting container even if the device carrier makes steering motions.

In addition, sensors for monitoring a fill level are disposed in theupper edge region of the collecting container, by way of which thelongitudinal conveyor or conveyors can be controlled. It is expedient toassign the sensors to different sectors of the collecting container topermit adjustment of the longitudinal conveyor or the devices forchanging outlet cross sections in the conveyor trough or correspondingguide devices, on the basis of individual data transmitted by thesensors to a central unit, such that the collecting container is filledin a uniform manner up to a maximum fill level. In addition, a camera ismounted at the feed pipe of the harvesting machine or at the outletchute thereof. The camera is connected to a monitor provided in a cab ofthe harvesting machine. By way of this monitor, the driver of theharvesting machine can perform a control function in addition to theintended automatic monitoring functions. The monitor permits detectionof any problems and, if any are found, manual intervention may becarried out.

In addition, the harvesting device may include, in a feed region of thelongitudinal conveyor, an ultrasonic sensor that monitors the entry ofthe crop from the outlet chute into the longitudinal conveyor. Theultrasonic sensor is mounted at the collecting container and connectedto a monitor or a navigation system controlling the position of thecollecting container. This device may be provided alternatively to theabove-described camera, or in combination with the camera. In additionto positioning the collecting container with respect to the combineharvester by way of the navigation system, the ultrasonic sensorperforms an additional monitoring function that implements an automaticcorrection or prompts the driver of the harvesting machine to make anadditional correction.

The invention also relates to a method for unloading crop stored in agrain tank of a self-propelled combine harvester into a drivablecollecting container equipped with a drive unit, wherein the collectingcontainer is positioned relative to the combine harvester and is movedin parallel thereto while the crop is fed to the collecting containerdirectly or indirectly by way of a feed pipe equipped with an outletchute, simultaneously with the harvesting operation. To unload the crop,the collecting container is moved by way of a control device in aconstant position relative to the harvesting machine, behind a frontharvesting attachment or next to a front harvesting attachment, in whichthe outlet chute is oriented toward an inlet region of a longitudinalconveyor provided in the collecting container.

The method carries with it the advantages described above in conjunctionwith the system, enabling harvesting grain, corn, rapeseed or otherlegumes with little personal effort since the driver of the combineharvester can concentrate mainly on the operation of the combineharvester while the rest of the process for emptying the grain tanktakes place automatically to the greatest extent possible. It is onlynecessary for additional personnel to replace the filled collectingcontainer with an empty collecting container and haul it away. Withinthe scope of this method, the spreading width of the chopper mounted onthe combine harvester is varied, and sensors are used to monitor auniform and maximum filling of the collecting container.

Using the method (and system), the particular position of the combineharvester and the collecting container is determined by way of one ortwo navigation systems that communicate with each other, wherein,alternatively thereto, a radio link between the combine harvester andthe collecting container can also determine a position of the collectingcontainer. The method performs additional monitoring function by whichdistance sensors are provided that monitor the particular distancebetween the combine harvester and the collecting container. If thisdistance is exceeded or undershot, a corrective steering procedure istriggered at the tractor pulling the collecting container. The inventionfurther envisions that the longitudinal conveyor is disposed in theregion of the base of the collecting container, for example in the formof a floor conveyor or as at least one feed auger disposed at thebottom.

BRIEF DESCRIPTION OF THE DRAWING FIGURES

Further features and advantages of the invention will become apparentfrom the description of embodiments that follows, with reference to theattached figures. Shown are:

FIG. 1 a rear view of a self-propelled combine harvester and a driveablecollecting container positioned next thereto;

FIG. 2 schematically, a scaled-down top view of the harvesting deviceaccording to FIG. 1;

FIG. 3 schematically, in a top view, a harvesting device in which theself-propelled combine harvester is equipped with a chopper that placesthe chopped material next to the driving track of the collectingcontainer;

FIG. 4 schematically, in a top view, a harvesting device in which thecrop is conveyed into a front loading funnel of the collectingcontainer;

FIG. 5 schematically, in a top view, a harvesting device in which thecrop is conveyed onto an intermediate storage unit provided on a loadingsurface of a Trac vehicle drawing the collecting container;

FIG. 6 schematically, in a top view, a harvesting device in which thecollecting container is moved parallel to the combine harvester, outsideof the extension of a front harvesting attachment thereof;

FIG. 7 schematically, in a top view, a harvesting device in which thecollecting container likewise moves parallel to the combine harvester,outside of the extension thereof, wherein the collecting containercomprises a lateral loading funnel;

FIG. 8 a schematic side view of a collecting container equipped with aconveyor auger, with the crop being fed at the front end of thecollecting container;

FIG. 9 a schematic depiction of a side view of a collecting container inwhich the crop is fed to a filling device in the central region of thecollecting container;

FIG. 10 schematically, in a side view, a collecting container comprisingsensors for monitoring the fill level of said collecting container;

FIG. 11 schematically, in a side view, a collecting container in whichthe feeding of the crop is monitored by way of an ultrasonic sensor;

FIG. 12 schematically, in a side view, a collecting container in whichthe feeding of the crop is monitored by way of a camera;

FIG. 14 a sequence of steps in the form of a flow chart for a method inwhich the crop collected in a grain tank of a combine harvester isunloaded into a collecting container; and

FIG. 13 a sequence of steps in the form of a flow chart for a method inwhich the crop conveyed from a grain tank discharge pipe into a fillingdevice is distributed in a collecting container until a specifiedmaximum fill level is reached in the entire collecting container.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

The following is a detailed description of example embodiments of theinvention depicted in the accompanying drawings. The example embodimentsare presented in such detail as to clearly communicate the invention andare designed to make such embodiments obvious to a person of ordinaryskill in the art. However, the amount of detail offered is not intendedto limit the anticipated variations of embodiments; on the contrary, theintention is to cover all modifications, equivalents, and alternativesfalling within the spirit and scope of the present invention, as definedby the appended claims.

In FIG. 1, reference numeral 1 designates a self-propelled combineharvester comprising a front harvesting attachment 2, which ispreferably replaceable, in the front region thereof. The frontharvesting attachment 2 has a relatively large working width andtherefore extends beyond the width of the combine harvester 1 on bothsides to a considerable extent, that is, beyond the width of the grounddrive, the threshing mechanism, etc., thereof. The front harvestingattachment 2 is preferably a header for harvesting grain or rapeseed.Moreover, the combine harvester 1 comprises a grain tank 3 in thecentral region thereof, behind a driver's cab. A feed pipe extends fromthe grain tank in the form of a grain tank discharge pipe 4 on a leftlongitudinal side of the combine harvester 1, as viewed in the directionof travel. The grain tank discharge pipe 4 can be swiveled outwardlyinto the position for emptying the grain tank 3 depicted in FIG. 1. Thegrain tank discharge pipe 4 also can be transferred into a transportposition of the combine harvester 1, in which it extends parallel to thelongitudinal extension thereof.

Furthermore, the grain tank discharge pipe 4 comprises a conveyor augerin the interior thereof, which is used to empty the grain tank 3 and isnot shown in greater detail. While grain is being harvested, straw andchaff travel by way of tray-type shakers and sieves, which are not shownin greater detail, to the rear end of the combine harvester 1 and into achopper 5 disposed there, which is used to fragmentize and evenlydistribute the straw and the chaff across a surface of the fieldharvested by the combine harvester 1, that is, onto the stubble. Thegrain tank discharge pipe 4 comprises an angled outlet chute 6, whichredirects the crop conveyed through the grain tank discharge pipe 4 suchthat it reaches a collecting container 8 disposed next to the combineharvester 1 in the form of a crop stream 7.

The collecting container 8 has a closed base 9, a circumferential sidepanel 10, and individual side panels, and is equipped, at leastpartially, with an opening on the top side thereof. In addition, thedriveable collecting container 8 is mounted on a ground drive, therebyenabling it to move parallel to the combine harvester 1 in a fixedposition relative thereto during a grain tank unloading process, whilethe harvesting process continues. FIG. 1 shows that data are transmittedfrom the combine harvester 1 by way of a radio link 12 between thecombine harvester 1 and a drive unit of the collecting container 8,which is not depicted in greater detail in FIG. 1. FIG. 1 also shows thestill unharvested stalk crop stand 13 next to the front harvestingattachment 2. The same reference signs are used in the figures thatfollow for the devices and components explained in FIG. 1.

FIG. 2 shows substantially the same configuration as described abovewith reference to FIG. 1, although it is a highly schematic andsmaller-scale depiction of the configuration in a top view. FIGS. 3 to 7show depictions that are also highly schematicized, likewise in a topview.

FIG. 2 further shows that the collecting container 8 is drawn by atractor 14, which therefore forms a direct drive unit of the collectingcontainer 8. The tractor 14 is connected to the combine harvester 1 byway of the radio link 12 mentioned in conjunction with FIG. 1. Inaddition, the at least one combine harvester 1 includes a navigationsystem, by way of which the particular position of the combine harvester1 is detected via GPS. The tractor 14 also comprises a navigationsystem, wherein these two systems are coordinated with one another insuch a way that the combine harvester 1 and the collecting container 8drawn by the tractor 14 move in constant positions relative to oneanother.

FIG. 2 also shows that the front harvesting attachment 2 of the combineharvester 1 extends therebeyond on both sides, and the collectingcontainer 8 drawn by the tractor 14 moves behind this front harvestingattachment 2, that is, within the extension. While the harvestingprocess continues (e.g., while the stalk crop is mowed, threshed andprepared), the grain tank 3 is simultaneously emptied by way of thegrain tank discharge pipe 4, which has been swiveled outward. In FIG. 2,the discharge pipe is shown terminated in the front region of thecollecting container 8 and feeds the crop to a filling device designedas a conveyor auger 15 by way of an outlet chute 6 (not shown in FIG.2).

The feeding takes place in the front region of the collecting container8, and the conveyor auger 15, as a longitudinal conveyor, transports thecrop into the other regions of the collecting container 8. The conveyorauger 15 is disposed within a conveyor trough 16, which as shown in FIG.2, has a plurality of adjustable outlet regions 17. In the depiction, asensor 18 for monitoring the fill level of the collecting container 8 islocated at the rear end of the collecting container 8. In addition,distance sensors 19 are mounted on the combine harvester 1 and on thetractor 14. The distance sensors 19 perform an additional safetyfunction independently of the control of the two vehicles 1 and 14 and 8by way of the navigation system. That is, the distance sensors prevent apotential collision between the two vehicles 1 and 8 or 14,respectively.

The depiction according to FIG. 3 is substantially identical to thatshown in FIG. 2, and therefore the same reference signs are used. InFIG. 3, the combine harvester 1 according to FIG. 1 is equipped with achopper 5.

The chopper 5 comprises a guide device 19 for adjusting the distributionof straw and chaff behind the combine harvester. The guide device 19 isadjusted by way of an actuator 20 such that a spreading width 20 abehind the combine harvester 1 can be reduced on one side. As shown inFIG. 3, the chopped components are applied onto the stubble only in aregion that lies outside of the region traversed by the collectingcontainer 8.

The configuration according to FIG. 4 differs from that shown in FIGS. 2and 3 only in that a loading funnel 21 is provided in the front regionof the collecting container 8, into which the grain tank discharge pipe4 leads. In this case, the conveyor auger 15 extends from said loadingfunnel 21. FIG. 4 also shows that the loading funnel 21 is located in aregion above a tow bar, by way of which the driveable collectingcontainer 8 is coupled to the tractor 14.

According to FIG. 5, the driveable collecting container 8 is drawn by aTrac vehicle 22, the Trac vehicle 22 comprising a rear loading surface23. An intermediate storage unit 24 is provided on the loading surface23, from which the crop is conveyed by way of an intermediate conveyor25 to the conveyor auger 15 disposed in the collecting container 8.There, the conveyor auger 15 distributes the crop in collectingcontainer 8 in cooperation with guide devices that are not shown.

FIGS. 6 and 7 show a configuration in which the collecting container 8likewise moves in a manner synchronized with the combine harvester 1.The collecting container 8, which is drawn by the tractor 14, is locatedoutside the extension of the front harvesting attachment 2. Thecollecting container assumes this position with respect to the combineharvester only if mowing is not carried out in the entire stand or ifthe grain tank discharge pipe 4 is never located on the side of theunmowed stand.

According to FIG. 6, the grain tank discharge pipe 4 terminates in thecenter of the collecting container 8 and the at least one conveyor auger15 therefore conveys in opposite directions in the collecting container8. The conveyor auger 15 is divided, wherein the two parts are driven indifferent directions of rotation. The auger may comprise a shaft havingopposing auger turning directions, and so, when the two sections rotatein the same direction, conveyance takes place in the direction of thetwo ends of the collecting container 8. According to FIG. 7, the crop isfed laterally in the front region of the collecting container 8, whereina lateral loading funnel 26 is provided for this purpose. By way of saidloading funnel 26 the crop reaches the inlet region of the conveyorauger 15.

In FIG. 8, as in FIG. 2, the crop is fed by way of the grain tankdischarge pipe 4 and the outlet chute 6 thereof into the front region ofthe collecting container 8, wherein the conveyor auger 15 distributesthe crop along the entire length of the collecting container 8. In FIG.9, the crop is fed in the middle of the collecting container 8, as isthe case in FIG. 6. In contrast to the configuration according to FIG.6, however, the collecting container 8 and the tractor 14 is locatedwithin the extension of the front harvesting attachment 2.

According to FIG. 10, further sensors 27 and 28 for monitoring a filllevel of the collecting container 8 in the central region thereof aredisposed in the upper region of the collecting container 8, in order toobtain complete filling. According to FIGS. 11 and 12, the feeding ofthe crop to the conveyor auger 15 is monitored. To this end, anultrasonic sensor 29 is provided. Ultrasonic sensor 29 monitors the cropstream 7 and reports malfunctions by way of the related electronicsystem to a monitor, which monitor is not depicted in greater detail butis disposed in the driver's cab of the combine harvester 1. According toFIG. 12, the same function can be performed by a camera 30 thattransmits pertinent messages to the monitor by way of an imageprocessing system.

FIG. 13 presents a flow chart depicting the related grain tank unloadingprocess from the combine harvester 1 into the collecting container 8 andthe required relative positioning of the combine harvester 1 and thetractor 14 or Trac vehicles 22 drawing a collecting container. After anautomated grain tank unloading process is activated in method step S1, adetermination is made in a method step S2 regarding the position inwhich the crop should be unloaded. That is, it is determined whetherunloading occurs in a position behind the front harvesting attachment 2according to method step A1, or next to the front harvesting attachmentaccording to method step A2. It is also possible to deactivate thisfunction. In the subsequent method step S3, it is also determinedwhether grain should be unloaded during operation of a chopper 5 whenunloading takes place behind the front harvesting attachment 2, that is,according to A1. If so, the “yes” path after step S6 activates reduceddistribution of chopped material on one side.

Method step S3 is followed by a method step S4 by way of a “no” path.If, according to method step S4, the grain tank discharge function is“off” or the collecting container 8 is traveling next to the frontharvesting attachment 2, then normal chopping operation takes place byway of the “yes” path according to a method step S5. Next, according tomethod step S7, the status of the collecting container 8 and the combineharvester grain tank unloading process is determined. According to stepS8, a check is carried out to determine whether a grain tank unloadingprocess is released for the collecting container 8 and the combineharvester. If not, the system is reset by way of the “no” path, that is,the procedure starts over according to the method step S1 with theactivation of the automated grain tank unloading process. By way of the“yes” path, the procedure is continued and, therefore, the grain tankunloading process is activated in method step S9.

In method step S10, the status of the collecting container 8 and thecombine harvester grain tank unloading process is determined. A check iscarried out in S11 to determine whether the grain tank unloading processhas been released for the combine harvester 1 and the collectingcontainer 8. If so, a pertinent message is transmitted by way of the“yes” path and the process is continued. If not, this message istransmitted by way of the “no” path and, consequently, the grain tankunloading process is halted in S12.

Different status messages may be generated/displayed in step S13. Thatis, “grain tank unloading process is off”, “collecting container isfull”, “not in the grain tank discharge position” or “grain tankunloading process is interrupted”, re displayed on a monitor in thedriver's cab of the combine harvester 1 and/or the tractor 14 or theTrac vehicle 22. In this case, the entire procedure is reset to aposition after the start of the automated grain tank unloading process,that is, after S1. Reference is also made specifically to theexplanations in the list of reference signs with respect to theindividual method steps.

FIG. 14 shows a flow chart for the filling of the collecting container8, which relates to a filling of the collecting container 8 when feedingtakes place in the central region thereof. First, according to B1, theautomated filling procedure is activated, followed in B2 by augerconveyance from this region into the front region, position 2, of thecollecting container 8. In this context a query takes place as towhether a fill level determined by a sensor does not yet register the“full” position when the conveying direction is toward the front, thatis, position 1. If this is the case, then, in accordance with the “yes”path according to step B4, the direction of conveyance of the conveyorauger toward the front is activated, or this setting is retained. Ifthis is not the case, a “no” path is activated, which will be describedbelow.

Next, a query takes place in B5 as to whether the front fill levelsensor signals a “full” fill level. If the maximum fill level has notyet been reached at the front, the “no” path leads to the filling beingcontinued in the front region of the collecting container. If themaximum fill level has been reached in the front region, the “yes” pathleads to the path being continued to B6, where a check is carried out bya further fill level sensor to determine whether a maximum fill levelhas also been reached in the rear region of the collecting container 8.If so, the “yes” path is activated, and operation of the conveyor augeris halted in B9 and a message “collecting container is full” istransmitted in B10. Next, the automated filling procedure is shut offentirely in B11. The signal B8 also has a “no” loop, which causes thefilling procedure in the rear region of the collecting container to becontinued until the maximum fill level has been reached.

Proceeding from the query in B3, the “no” path opens a furtherprocedure, which is parallel to that described above. That is, adetermination is made in B12, if the conveying direction of the conveyorauger is “toward the back” and a signal indicates that the collectingcontainer is not yet full in the rear, whether to switch on the conveyorauger toward the rear or to maintain this conveying direction (see the“yes” path), thereby attaining the state “conveyor auger toward the rearis on” according to B13. If this is not the case, that is, if thecollecting container may be full with consideration for this conveyingdirection of the conveyor auger, this query continues to take place byway of the “no” path according to signal B15. If it is confirmed by wayof the “yes” path that the collecting container 8 is full at the rear,the filling procedure is likewise terminated in B9, B10 and B11.

Following B13, a query takes place once more in B14 as to whether themaximum fill level has been reached at the rear; if the path is “no”,the filling procedure is continued. If the path of the signal B14 is“yes”, the check is continued by way of B15. In B15 a routine query ismade as to whether the maximum fill level has also been reached at thefront. If so, operation of the conveyor auger is halted in entirety byway of the “yes” path and, subsequently, by way of B9, B10 and B11. Byway of the “no” path of B15, the state “conveyor auger toward the frontis on” is attained. In association therewith, the check is carried outin B17 as to whether the fill level is “front=full”. In this case aswell the related filling procedure is continued until this state hasbeen reached. The procedure is then terminated according to B9, B10 andB11. In conjunction with the details of this filling procedure,reference is likewise made to the explanations in the list of referencesigns.

In both the system and method, the collecting container isadvantageously operated in a fixed position with respect to the combineharvester 1. The grain tank discharge pipe 4 is likewise moved into anappropriate feed position at the beginning of the grain tank unloadingprocess. The filling device, which preferably comprises at least oneconveyor auger 15, distributes the crop in an optimal manner in thecollecting container 8 and a message is transmitted by way of sensors18, 27 when the collecting container 8 has been completely filled.Moreover, it is advantageous that a grain tank unloading process cantake place behind the front harvesting attachment 2 of the combineharvester 1, and that, when the chopper 5 is activated, the choppedmaterial is distributed in such a way that it is not conveyed into thetrack of the tractor 15 and the collecting container 8 connectedthereto. In addition, a plurality of monitoring functions are provided,which ensure that the entire crop stream 7 is fed to the collectingcontainer and distributed thereon in an optimal manner even underunfavorable conditions.

The following list of reference signs of various elements mentionedabove is included (as follows), for ease of explanation:

-   1 combine harvester-   2 front harvesting attachment-   3 grain tank-   4 grain tank discharge pipe-   5 chopper-   6 outlet chute-   7 crop stream-   8 collecting container-   9 base-   10 side panel-   11 ground drive of 8-   12 radio link-   13 stalk crop stand-   14 tractor-   15 conveyor auger-   16 conveyor trough-   17 outlet regions-   18 fill level sensor-   19 distance sensors-   19 a guide device-   20 adjusting element-   20 a spreading width-   21 loading funnel-   22 Trac vehicle-   23 rear loading surface-   24 intermediate storage unit-   25 intermediate conveyor-   26 lateral loading funnel-   27 sensor-   28 sensor-   29 ultrasonic sensor-   30 camera-   S1 automated grain tank unloading process is on-   S2 adjust the grain tank discharge position off    -   A1 unload the grain tank behind the front harvesting attachment    -   A2 unload the grain tank next to the front harvesting attachment-   S3 Is the grain tank unloaded in position A1 during chopping    operation?-   S4 Is the grain tank unloading position “off” or A2 and distribution    of chopped material is reduced?-   S5 normal distribution of chopped material-   S6 reduced distribution of chopped material-   S7 Determine the status of the collecting container and the status    of the combine harvester grain tank unloading process-   S8 Has the grain tank unloading process been released for the    combine harvester and the collecting container?-   S9 grain tank unloading process “on”-   S10 determine the status of the collecting container and the combine    harvester grain tank unloading process-   S11 Has the grain tank unloading process been released for the    combine harvester and the collecting container?-   S12 grain tank unloading process is “off”-   S13 CEBIS message: (depending on the status message) grain tank    unloading process “off”, collecting container “full”, “not” in the    grain tank discharge position, grain tank unloading process    “interrupted”-   B1 automated filling process is “on”-   B2 set the initial direction of conveyance of the conveyor auger    -   position 1—toward the front    -   position 2—toward the rear-   B3 Is the conveying direction=1 and the sensor for the front fill    level=not full?-   B4 conveying direction of the conveyor auger toward the front is    “on”-   B5 Is the sensor for the front fill level=full?-   B6 Is the sensor for the rear fill level=full?-   B7 conveying direction of the conveyor auger toward the rear is “on”-   B8 Is the rear fill level=“full”?-   B9 operation of the conveyor auger is “off”-   B10 message “collecting container is full”-   B11 “off”-   B12 Is the conveying direction of the conveyor auger=2 and rear=not    full?-   B13 conveying direction of the conveyor auger toward the rear is    “on”-   B14 Is the sensor for the rear fill level=“full”?-   B15 Is the sensor for the front fill level=“full”?-   B16 conveying direction of the conveyor auger toward the front is    “on”-   B17 Is the front fill level=“full”?

As will be evident to persons skilled in the art, the foregoing detaileddescription and figures are presented as examples of the invention, andthat variations are contemplated that do not depart from the fair scopeof the teachings and descriptions set forth in this disclosure. Theforegoing is not intended to limit what has been invented, except to theextent that the following claims so limit that.

What is claimed is:
 1. A method for unloading crop stored in a graintank (3) of a self-propelled combine harvester (1) into a drivablecollecting container (8) equipped with a drive unit, including:positioning the collecting container (8) relative to the combineharvester (1) and moving the collecting container (8) parallel theretowhile the crop is fed to the collecting container (8) directly orindirectly by way of a grain tank discharge pipe (4) equipped with anoutlet chute (6), simultaneously with the harvesting operation; tounload the crop, using a control device to move the collecting container(8) in a constant position relative to the harvesting machine (1),behind a front harvesting attachment (2) or next to a front harvestingattachment (2), in which the outlet chute (6) is oriented toward aninlet region of a longitudinal conveyor provided in the collectingcontainer (8); and reducing a spreading width of a chopper (5) providedat the straw and chaff outlet of the combine harvester (1), which ismaintained in a direction of the collecting container (8), during agrain tank unloading process with a collecting container (8) travelingbehind the front harvesting attachment (2).
 2. The method for unloadingcrop stored in a grain tank (3) of a self-propelled combine harvester(1) according to claim 1, wherein a uniform and maximum filling of thecollecting container (8) is monitored using sensors (18, 27, 28).
 3. Themethod for unloading crop stored in a grain tank (3) of a self-propelledcombine harvester (1) according to claim 1, further comprisingdetermining a position of the combine harvester (1) using a navigationsystem and comparing the determined combine harvester position with aposition of the collecting container by way of the navigation system ora radio link (12) between the combine harvester and the collectingcontainer.
 4. The method for unloading crop stored in a grain tank (3)of a self-propelled combine harvester (1) according to claim 1, whereinmonitoring is carried out by way of a distance sensor (19) to detectwhether a minimum distance or a maximum distance between the combineharvester (1) and the collecting container (8) has been undershot orexceeded, respectively, and to trigger a steering angle correction atthe collecting container (8) or the drive unit thereof.